Allow changing episode settings at runtime (sync mode and no-rendering mode)

LibCarla/source/carla/client/World.cpp

@@ -37,6 +37,14 @@ namespace client {
     return _episode.Lock()->GetSpectator();
   }
 
+  rpc::EpisodeSettings World::GetSettings() const {
+    return _episode.Lock()->GetEpisodeSettings();
+  }
+
+  void World::ApplySettings(const rpc::EpisodeSettings &settings) {
+    _episode.Lock()->SetEpisodeSettings(settings);
+  }
+
   rpc::WeatherParameters World::GetWeather() const {
     return _episode.Lock()->GetWeatherParameters();
   }

LibCarla/source/carla/client/World.h

@@ -13,6 +13,7 @@
 #include "carla/client/detail/EpisodeProxy.h"
 #include "carla/geom/Transform.h"
 #include "carla/rpc/Actor.h"
+#include "carla/rpc/EpisodeSettings.h"
 #include "carla/rpc/VehiclePhysicsControl.h"
 #include "carla/rpc/WeatherParameters.h"
 
@@ -53,6 +54,10 @@ namespace client {
     /// simulator window.
     SharedPtr<Actor> GetSpectator() const;
 
+    rpc::EpisodeSettings GetSettings() const;
+
+    void ApplySettings(const rpc::EpisodeSettings &settings);
+
     /// Retrieve the weather parameters currently active in the world.
     rpc::WeatherParameters GetWeather() const;
 

LibCarla/source/carla/client/detail/Client.cpp

@@ -139,6 +139,14 @@ namespace detail {
     return _pimpl->CallAndWait<carla::rpc::Actor>("get_spectator");
   }
 
+  rpc::EpisodeSettings Client::GetEpisodeSettings() {
+    return _pimpl->CallAndWait<rpc::EpisodeSettings>("get_episode_settings");
+  }
+
+  void Client::SetEpisodeSettings(const rpc::EpisodeSettings &settings) {
+    _pimpl->AsyncCall("set_episode_settings", settings);
+  }
+
   rpc::WeatherParameters Client::GetWeatherParameters() {
     return _pimpl->CallAndWait<rpc::WeatherParameters>("get_weather_parameters");
   }

LibCarla/source/carla/client/detail/Client.h

@@ -13,10 +13,11 @@
 #include "carla/rpc/Actor.h"
 #include "carla/rpc/ActorDefinition.h"
 #include "carla/rpc/EpisodeInfo.h"
+#include "carla/rpc/EpisodeSettings.h"
 #include "carla/rpc/MapInfo.h"
-#include "carla/rpc/WeatherParameters.h"
 #include "carla/rpc/TrafficLightState.h"
 #include "carla/rpc/VehiclePhysicsControl.h"
+#include "carla/rpc/WeatherParameters.h"
 
 #include <functional>
 #include <memory>
@@ -76,6 +77,10 @@ namespace detail {
 
     rpc::Actor GetSpectator();
 
+    rpc::EpisodeSettings GetEpisodeSettings();
+
+    void SetEpisodeSettings(const rpc::EpisodeSettings &settings);
+
     rpc::WeatherParameters GetWeatherParameters();
 
     void SetWeatherParameters(const rpc::WeatherParameters &weather);

LibCarla/source/carla/client/detail/Simulator.h

@@ -128,6 +128,14 @@ namespace detail {
 
     SharedPtr<Actor> GetSpectator();
 
+    rpc::EpisodeSettings GetEpisodeSettings() {
+      return _client.GetEpisodeSettings();
+    }
+
+    void SetEpisodeSettings(const rpc::EpisodeSettings &settings) {
+      _client.SetEpisodeSettings(settings);
+    }
+
     rpc::WeatherParameters GetWeatherParameters() {
       return _client.GetWeatherParameters();
     }

LibCarla/source/carla/rpc/EpisodeSettings.h

@@ -0,0 +1,78 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/MsgPack.h"
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Settings/EpisodeSettings.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+namespace carla {
+namespace rpc {
+
+  class EpisodeSettings {
+  public:
+
+    // =========================================================================
+    // -- Public data members --------------------------------------------------
+    // =========================================================================
+
+    bool synchronous_mode = false;
+
+    bool no_rendering_mode = false;
+
+    MSGPACK_DEFINE_ARRAY(synchronous_mode, no_rendering_mode);
+
+    // =========================================================================
+    // -- Constructors ---------------------------------------------------------
+    // =========================================================================
+
+    EpisodeSettings() = default;
+
+    EpisodeSettings(
+        bool synchronous_mode,
+        bool no_rendering_mode)
+      : synchronous_mode(synchronous_mode),
+        no_rendering_mode(no_rendering_mode) {}
+
+    // =========================================================================
+    // -- Comparison operators -------------------------------------------------
+    // =========================================================================
+
+    bool operator==(const EpisodeSettings &rhs) const {
+      return
+          (synchronous_mode == rhs.synchronous_mode) &&
+          (no_rendering_mode == rhs.no_rendering_mode);
+    }
+
+    bool operator!=(const EpisodeSettings &rhs) const {
+      return !(*this == rhs);
+    }
+
+    // =========================================================================
+    // -- Conversions to UE4 types ---------------------------------------------
+    // =========================================================================
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    EpisodeSettings(const FEpisodeSettings &Settings)
+      : synchronous_mode(Settings.bSynchronousMode),
+        no_rendering_mode(Settings.bNoRenderingMode) {}
+
+    operator FEpisodeSettings() const {
+      FEpisodeSettings Settings;
+      Settings.bSynchronousMode = synchronous_mode;
+      Settings.bNoRenderingMode = no_rendering_mode;
+      return Settings;
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+  };
+
+} // namespace rpc
+} // namespace carla

PythonAPI/source/libcarla/World.cpp

@@ -34,6 +34,19 @@ namespace client {
 } // namespace client
 } // namespace carla
 
+namespace carla {
+namespace rpc {
+
+  std::ostream &operator<<(std::ostream &out, const EpisodeSettings &settings) {
+    auto BoolToStr = [](bool b) { return b ? "True" : "False"; };
+    out << "WorldSettings(synchronous_mode=" << BoolToStr(settings.synchronous_mode)
+        << ",no_rendering_mode=" << BoolToStr(settings.no_rendering_mode) << ')';
+    return out;
+  }
+
+} // namespace rpc
+} // namespace carla
+
 static auto WaitForTick(const carla::client::World &world, double seconds) {
   carla::PythonUtil::ReleaseGIL unlock;
   return world.WaitForTick(TimeDurationFromSeconds(seconds));
@@ -47,6 +60,7 @@ void export_world() {
   using namespace boost::python;
   namespace cc = carla::client;
   namespace cg = carla::geom;
+  namespace cr = carla::rpc;
 
   class_<cc::Timestamp>("Timestamp")
     .def(init<size_t, double, double, double>(
@@ -72,6 +86,17 @@ void export_world() {
     .def(self_ns::str(self_ns::self))
   ;
 
+  class_<cr::EpisodeSettings>("WorldSettings")
+    .def(init<bool, bool>(
+        (arg("synchronous_mode")=false,
+         arg("no_rendering_mode")=false)))
+    .def_readwrite("synchronous_mode", &cr::EpisodeSettings::synchronous_mode)
+    .def_readwrite("no_rendering_mode", &cr::EpisodeSettings::no_rendering_mode)
+    .def("__eq__", &cc::Timestamp::operator==)
+    .def("__ne__", &cc::Timestamp::operator!=)
+    .def(self_ns::str(self_ns::self))
+  ;
+
 #define SPAWN_ACTOR_WITHOUT_GIL(fn) +[]( \
         cc::World &self, \
         const cc::ActorBlueprint &blueprint, \
@@ -89,6 +114,8 @@ void export_world() {
     .def("get_blueprint_library", CONST_CALL_WITHOUT_GIL(cc::World, GetBlueprintLibrary))
     .def("get_map", CONST_CALL_WITHOUT_GIL(cc::World, GetMap))
     .def("get_spectator", CONST_CALL_WITHOUT_GIL(cc::World, GetSpectator))
+    .def("get_settings", CONST_CALL_WITHOUT_GIL(cc::World, GetSettings))
+    .def("apply_settings", &cc::World::ApplySettings)
     .def("get_weather", CONST_CALL_WITHOUT_GIL(cc::World, GetWeather))
     .def("set_weather", &cc::World::SetWeather)
     .def("get_actors", CONST_CALL_WITHOUT_GIL(cc::World, GetActors))

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp

@@ -8,7 +8,9 @@
 #include "Carla/Game/CarlaEngine.h"
 
 #include "Carla/Game/CarlaEpisode.h"
+#include "Carla/Game/CarlaStaticDelegates.h"
 #include "Carla/Settings/CarlaSettings.h"
+#include "Carla/Settings/EpisodeSettings.h"
 
 #include <thread>
 
@@ -23,6 +25,7 @@ FCarlaEngine::~FCarlaEngine()
   {
     FWorldDelegates::OnWorldTickStart.Remove(OnPreTickHandle);
     FWorldDelegates::OnWorldPostActorTick.Remove(OnPostTickHandle);
+    FCarlaStaticDelegates::OnEpisodeSettingsChange.Remove(OnEpisodeSettingsChangeHandle);
   }
 }
 
@@ -40,7 +43,10 @@ void FCarlaEngine::NotifyInitGame(const UCarlaSettings &Settings)
         &FCarlaEngine::OnPreTick);
     OnPostTickHandle = FWorldDelegates::OnWorldPostActorTick.AddRaw(
         this,
-        Settings.bSynchronousMode ? &FCarlaEngine::OnPostTickSync : &FCarlaEngine::OnPostTick);
+        &FCarlaEngine::OnPostTick);
+    OnEpisodeSettingsChangeHandle = FCarlaStaticDelegates::OnEpisodeSettingsChange.AddRaw(
+        this,
+        &FCarlaEngine::OnEpisodeSettingsChanged);
 
     bIsRunning = true;
   }
@@ -68,15 +74,20 @@ void FCarlaEngine::OnPreTick(ELevelTick TickType, float DeltaSeconds)
 }
 
 void FCarlaEngine::OnPostTick(UWorld *, ELevelTick, float)
-{
-  Server.RunSome(10u);
-}
-
-void FCarlaEngine::OnPostTickSync(UWorld *, ELevelTick, float)
 {
   do
   {
     Server.RunSome(10u);
   }
-  while (!Server.TickCueReceived());
+  while (bSynchronousMode && !Server.TickCueReceived());
+}
+
+void FCarlaEngine::OnEpisodeSettingsChanged(const FEpisodeSettings &Settings)
+{
+  bSynchronousMode = Settings.bSynchronousMode;
+
+  if (GEngine && GEngine->GameViewport)
+  {
+    GEngine->GameViewport->bDisableWorldRendering = Settings.bNoRenderingMode;
+  }
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEngine.h

@@ -13,6 +13,7 @@
 #include "Misc/CoreDelegates.h"
 
 class UCarlaSettings;
+struct FEpisodeSettings;
 
 class FCarlaEngine : private NonCopyable
 {
@@ -42,10 +43,12 @@ private:
 
   void OnPostTick(UWorld *World, ELevelTick TickType, float DeltaSeconds);
 
-  void OnPostTickSync(UWorld *World, ELevelTick TickType, float DeltaSeconds);
+  void OnEpisodeSettingsChanged(const FEpisodeSettings &Settings);
 
   bool bIsRunning = false;
 
+  bool bSynchronousMode = false;
+
   FTheNewCarlaServer Server;
 
   FWorldObserver WorldObserver;
@@ -55,4 +58,6 @@ private:
   FDelegateHandle OnPreTickHandle;
 
   FDelegateHandle OnPostTickHandle;
+
+  FDelegateHandle OnEpisodeSettingsChangeHandle;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.cpp

@@ -46,6 +46,12 @@ UCarlaEpisode::UCarlaEpisode(const FObjectInitializer &ObjectInitializer)
   ActorDispatcher = CreateDefaultSubobject<UActorDispatcher>(TEXT("ActorDispatcher"));
 }
 
+void UCarlaEpisode::ApplySettings(const FEpisodeSettings &Settings)
+{
+  FCarlaStaticDelegates::OnEpisodeSettingsChange.Broadcast(Settings);
+  EpisodeSettings = Settings;
+}
+
 TArray<FTransform> UCarlaEpisode::GetRecommendedSpawnPoints() const
 {
   TArray<FTransform> SpawnPoints;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h

@@ -7,15 +7,16 @@
 #pragma once
 
 #include "Carla/Actor/ActorDispatcher.h"
-#include "Carla/Sensor/WorldObserver.h"
-#include "Carla/Weather/Weather.h"
-#include "Carla/Server/TheNewCarlaServer.h"
 #include "Carla/Recorder/CarlaRecorder.h"
+#include "Carla/Sensor/WorldObserver.h"
+#include "Carla/Server/TheNewCarlaServer.h"
+#include "Carla/Settings/EpisodeSettings.h"
+#include "Carla/Weather/Weather.h"
 
 #include <compiler/disable-ue4-macros.h>
+#include <carla/geom/BoundingBox.h>
 #include <carla/rpc/Actor.h>
 #include <carla/rpc/ActorDescription.h>
-#include <carla/geom/BoundingBox.h>
 #include <carla/streaming/Server.h>
 #include <compiler/enable-ue4-macros.h>
 
@@ -37,6 +38,21 @@ public:
 
   UCarlaEpisode(const FObjectInitializer &ObjectInitializer);
 
+  // ===========================================================================
+  // -- Episode settings -------------------------------------------------------
+  // ===========================================================================
+
+public:
+
+  UFUNCTION(BlueprintCallable)
+  const FEpisodeSettings &GetSettings() const
+  {
+    return EpisodeSettings;
+  }
+
+  UFUNCTION(BlueprintCallable)
+  void ApplySettings(const FEpisodeSettings &Settings);
+
   // ===========================================================================
   // -- Retrieve info about this episode ---------------------------------------
   // ===========================================================================
@@ -261,10 +277,13 @@ private:
 
   const uint32 Id = 0u;
 
+  double ElapsedGameTime = 0.0;
+
   UPROPERTY(VisibleAnywhere)
   FString MapName;
 
-  double ElapsedGameTime = 0.0;
+  UPROPERTY(VisibleAnywhere)
+  FEpisodeSettings EpisodeSettings;
 
   UPROPERTY(VisibleAnywhere)
   UActorDispatcher *ActorDispatcher = nullptr;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaStaticDelegates.cpp

@@ -0,0 +1,9 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla/Game/CarlaStaticDelegates.h"
+
+FCarlaStaticDelegates::FOnEpisodeSettingsChange FCarlaStaticDelegates::OnEpisodeSettingsChange;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaStaticDelegates.h

@@ -0,0 +1,17 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Carla/Settings/EpisodeSettings.h"
+
+class CARLA_API FCarlaStaticDelegates
+{
+public:
+
+  DECLARE_MULTICAST_DELEGATE_OneParam(FOnEpisodeSettingsChange, const FEpisodeSettings &);
+  static FOnEpisodeSettingsChange OnEpisodeSettingsChange;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp

@@ -19,6 +19,7 @@
 #include <carla/rpc/ActorDescription.h>
 #include <carla/rpc/DebugShape.h>
 #include <carla/rpc/EpisodeInfo.h>
+#include <carla/rpc/EpisodeSettings.h>
 #include <carla/rpc/MapInfo.h>
 #include <carla/rpc/Response.h>
 #include <carla/rpc/Server.h>
@@ -142,6 +143,19 @@ void FTheNewCarlaServer::FPimpl::BindActions()
       MakeVectorFromTArray<cg::Transform>(SpawnPoints)};
   });
 
+  Server.BindSync("get_episode_settings", [this]() -> R<cr::EpisodeSettings>
+  {
+    REQUIRE_CARLA_EPISODE();
+    return cr::EpisodeSettings{Episode->GetSettings()};
+  });
+
+  Server.BindSync("set_episode_settings", [this](const cr::EpisodeSettings &settings) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    Episode->ApplySettings(settings);
+    return R<void>::Success();
+  });
+
   Server.BindSync("get_actor_definitions", [this]() -> R<std::vector<cr::ActorDefinition>>
   {
     REQUIRE_CARLA_EPISODE();

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/EpisodeSettings.h

@@ -0,0 +1,21 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "EpisodeSettings.generated.h"
+
+USTRUCT(BlueprintType)
+struct CARLA_API FEpisodeSettings
+{
+  GENERATED_BODY()
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  bool bSynchronousMode = false;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  bool bNoRenderingMode = false;
+};